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64 lines
2.6 KiB
C++
64 lines
2.6 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "hal/CAN.h"
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#include "mockdata/CanDataInternal.h"
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using namespace hal;
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namespace hal::init {
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void InitializeCAN() {}
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} // namespace hal::init
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extern "C" {
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void HAL_CAN_SendMessage(int32_t busId, uint32_t messageId,
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const struct HAL_CANMessage* message, int32_t periodMs,
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int32_t* status) {
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SimCanData->sendMessage(busId, messageId, message, periodMs, status);
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}
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void HAL_CAN_ReceiveMessage(int32_t busId, uint32_t messageId,
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struct HAL_CANReceiveMessage* message,
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int32_t* status) {
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// Use a data size of 100 as call check. Difficult to add check to invoke
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// handler
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message->message.dataSize = 100;
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auto tmpStatus = *status;
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SimCanData->receiveMessage(busId, messageId, message, status);
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// If no handler invoked, return message not found
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if (message->message.dataSize == 100 && *status == tmpStatus) {
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*status = HAL_ERR_CANSessionMux_MessageNotFound;
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}
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}
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HAL_CANStreamHandle HAL_CAN_OpenStreamSession(int32_t busId, uint32_t messageId,
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uint32_t messageIDMask,
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uint32_t maxMessages,
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int32_t* status) {
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HAL_CANStreamHandle handle = 0;
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SimCanData->openStreamSession(&handle, busId, messageId, messageIDMask,
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maxMessages, status);
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return handle;
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}
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void HAL_CAN_CloseStreamSession(HAL_CANStreamHandle sessionHandle) {
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SimCanData->closeStreamSession(sessionHandle);
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}
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void HAL_CAN_ReadStreamSession(HAL_CANStreamHandle sessionHandle,
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struct HAL_CANStreamMessage* messages,
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uint32_t messagesToRead, uint32_t* messagesRead,
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int32_t* status) {
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SimCanData->readStreamSession(sessionHandle, messages, messagesToRead,
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messagesRead, status);
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}
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void HAL_CAN_GetCANStatus(int32_t busId, float* percentBusUtilization,
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uint32_t* busOffCount, uint32_t* txFullCount,
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uint32_t* receiveErrorCount,
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uint32_t* transmitErrorCount, int32_t* status) {
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SimCanData->getCANStatus(busId, percentBusUtilization, busOffCount,
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txFullCount, receiveErrorCount, transmitErrorCount,
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status);
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}
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} // extern "C"
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